智能化农业装备学报（中英文）2026，Vol.7Issue(2)：66-76,11.DOI:10.12398/j.issn.2096-7217.2026.02.006
基于GOP-YOLO11n光伏清洗无人机的轻量化多尺度表面污渍检测方法
GOP-YOLO11n-Based lightweight multi-scale surface soiling detection method for photovoltaic cleaning UAVs
摘要
Abstract
To address the degradation of power generation efficiency caused by soiling accumulation in photovoltaic(PV)power plants,as well as the localization challenges faced by cleaning unmanned aerial vehicles(UAVs)due to limitations in edge computing power and complex background interference,this paper proposes an edge-computed cleaning UAV solution based on the Jetson Orin Nano platform.Within the YOLO11n framework,a lightweight photovoltaic panel soiling detection algorithm designated as GOP-YOLO11n is developed.By introducing GroupDC structure,the C3k2 modules in the backbone network undergo lightweight reconstruction,minimizing computational overhead while enhancing the feature representation of small targets against complex backgrounds.Furthermore,an OptimizedDC multi-scale feature extraction module is embedded into the feature fusion network to improve the perception of multi-scale targets,such as tiny bird droppings and elongated water stains.In the detection head,an upsampling and feature aggregation block(UP-Block)is implemented to strengthen multi-pixel pattern aggregation.For the experiments,a visible-light image dataset of PV panels captured by UAVs,yielding 4 190 valid imagespartitioned into training,validation,and test sets at an 8∶1∶1 ratio,with input resolution standardized to 960 pixels×960 pixels.Under identical training and testing configurations,GOP-YOLO11n achieved a Precision of 91.1%,a Recall of 85.8%,a mAP@50 of 92.5%,and a mAP@50:0.95 of 76.8%,outperforming the baseline YOLO11n model by 2.9,3.4,1.8,and 4.4 percentage points,respectively.The model parameters were reduced from 2.582 M to 2.068 M,with a floating-point operation count of 6.7×109.Moreover,hardware deployment tests using TensorRT FP16 on the Jetson Orin Nano Super 8 G platform showed an inference speed of 114.7 f/s,a single-frame latency of 8.7 ms,and a GPU memory footprint of 1 685 MB.The results indicate that the proposed method effectively reconciles the need for high-accuracy multi-scale soiling detection in complex scenes with the constraints of lightweight edge-side real-time inference,thereby providing robust visual perception support for soiling recognition,localized cleaning strategies,and the intelligent operation and maintenance(O&M)of PV cleaning UAVs.关键词
光伏板污渍检测/GOP-YOLO11n/轻量化/多尺度融合/边缘部署Key words
photovoltaic stain detection/GOP-YOLO11n/lightweight model/multi-scale feature fusion/edge deployment分类
农业科技引用本文复制引用
赵立军,胡繁森,代凡程,李强,李建,黎斌..基于GOP-YOLO11n光伏清洗无人机的轻量化多尺度表面污渍检测方法[J].智能化农业装备学报（中英文）,2026,7(2):66-76,11.基金项目
2025年重庆市研究生科研创新项目(CYS25872) （CYS25872）
重庆市永川区"揭榜挂帅"项目(2025yc-jbgs20005) （2025yc-jbgs20005）
2025年重庆文理学院校级研究生科研创新项目2025 Chongqing Graduate Scientific Research and Innovation Project(CYS25872) （CYS25872）
Yongchuan District"Unveiling the Commander"Project of Chongqing(2025yc-jbgs20005) （2025yc-jbgs20005）
2025 Graduate Scientific Research and Innovation Project of Chongqing University of Arts and Sciences （）
